{"id":"https://openalex.org/W4200609497","doi":"https://doi.org/10.1109/iros51168.2021.9636438","title":"Angular Super-Resolution Radar SLAM","display_name":"Angular Super-Resolution Radar SLAM","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200609497","doi":"https://doi.org/10.1109/iros51168.2021.9636438"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636438","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038802105","display_name":"Zhiyuan Zeng","orcid":"https://orcid.org/0000-0003-3004-5392"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Zeng","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210137199","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061323699","display_name":"Xiangwei Dang","orcid":"https://orcid.org/0009-0009-3517-4258"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangwei Dang","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210137199","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100648601","display_name":"Yanlei Li","orcid":"https://orcid.org/0009-0004-9473-6218"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanlei Li","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210137199","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102858257","display_name":"Xiangxi Bu","orcid":"https://orcid.org/0000-0002-4786-3386"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangxi Bu","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210137199","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061794109","display_name":"Xingdong Liang","orcid":"https://orcid.org/0000-0001-9098-7942"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210137199","display_name":"Aerospace Information Research Institute","ror":"https://ror.org/0419fj215","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210137199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingdong Liang","raw_affiliation_strings":["Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210137199","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5456","last_page":"5461"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6858375072479248},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.6322424411773682},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.614048957824707},{"id":"https://openalex.org/keywords/snapshot","display_name":"Snapshot (computer storage)","score":0.49583086371421814},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.4931620955467224},{"id":"https://openalex.org/keywords/3d-radar","display_name":"3D radar","score":0.48050200939178467},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.4800482988357544},{"id":"https://openalex.org/keywords/continuous-wave-radar","display_name":"Continuous-wave radar","score":0.44122904539108276},{"id":"https://openalex.org/keywords/bistatic-radar","display_name":"Bistatic radar","score":0.4242251515388489},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4222942888736725},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41407400369644165},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3774871230125427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33093011379241943},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2140895426273346},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1434195339679718},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.12905234098434448},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09230184555053711}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6858375072479248},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.6322424411773682},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.614048957824707},{"id":"https://openalex.org/C55282118","wikidata":"https://www.wikidata.org/wiki/Q252683","display_name":"Snapshot (computer storage)","level":2,"score":0.49583086371421814},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.4931620955467224},{"id":"https://openalex.org/C81076408","wikidata":"https://www.wikidata.org/wiki/Q229387","display_name":"3D radar","level":5,"score":0.48050200939178467},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.4800482988357544},{"id":"https://openalex.org/C59584813","wikidata":"https://www.wikidata.org/wiki/Q1029234","display_name":"Continuous-wave radar","level":4,"score":0.44122904539108276},{"id":"https://openalex.org/C100102862","wikidata":"https://www.wikidata.org/wiki/Q2625855","display_name":"Bistatic radar","level":4,"score":0.4242251515388489},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4222942888736725},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41407400369644165},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3774871230125427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33093011379241943},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2140895426273346},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1434195339679718},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.12905234098434448},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09230184555053711},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636438","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W78175635","https://openalex.org/W1986931325","https://openalex.org/W2119667497","https://openalex.org/W2127271355","https://openalex.org/W2151693816","https://openalex.org/W2154332973","https://openalex.org/W2154418813","https://openalex.org/W2289917018","https://openalex.org/W2327992289","https://openalex.org/W2592680288","https://openalex.org/W2744362704","https://openalex.org/W2890714858","https://openalex.org/W2901434755","https://openalex.org/W2940551187","https://openalex.org/W2969150035","https://openalex.org/W2969150231","https://openalex.org/W2970479183","https://openalex.org/W3004165401","https://openalex.org/W3089835902","https://openalex.org/W3090913682","https://openalex.org/W3113571747","https://openalex.org/W3114322046","https://openalex.org/W3130465612","https://openalex.org/W4250955649","https://openalex.org/W4300263211"],"related_works":["https://openalex.org/W2125716714","https://openalex.org/W2387210280","https://openalex.org/W2569610252","https://openalex.org/W3080858538","https://openalex.org/W2541915404","https://openalex.org/W3012040388","https://openalex.org/W2165657214","https://openalex.org/W2548354930","https://openalex.org/W4380451819","https://openalex.org/W2387710128"],"abstract_inverted_index":{"Radar":[0],"SLAM":[1,21,86,163],"has":[2,39,58],"attracted":[3],"wide":[4],"attention":[5],"due":[6],"to":[7],"its":[8,68,78],"all-day":[9],"and":[10,31,51,65,74,112,128,151,182,186],"all-weather":[11],"working":[12],"characteristics":[13],"in":[14,80,188],"the":[15,48,59,106,122,142,147,167,179],"last":[16],"decade.":[17],"The":[18,93],"existing":[19,180],"radar":[20,27,38,49,57,98,162],"systems":[22],"mainly":[23],"adopt":[24],"mechanically":[25],"pivoting":[26],"with":[28,178],"simple":[29],"principle":[30],"high":[32,52,62],"resolution,":[33,71],"but":[34],"this":[35,132],"kind":[36],"of":[37,47,61,108,115,149],"disadvantages":[40],"such":[41],"as":[42],"low":[43,66,69],"frame":[44,63],"rate,":[45],"distortion":[46],"image,":[50],"cost.":[53],"Although":[54],"array":[55,90,116,160],"snapshot":[56,91,117,161],"advantages":[60],"rate":[64],"cost,":[67],"azimuth":[70,110],"multipath":[72,113],"reflection,":[73],"angular":[75,96,152],"glint":[76],"limit":[77],"application":[79],"SLAM.":[81],"This":[82],"paper":[83],"proposes":[84],"a":[85,135],"system":[87,94,164],"developed":[88],"on":[89],"radar.":[92,118],"realizes":[95],"super-resolution":[97],"imaging":[99],"through":[100],"compressed":[101],"sensing,":[102],"which":[103],"effectively":[104,145],"solves":[105],"problems":[107],"poor":[109],"resolution":[111],"reflection":[114],"We":[119],"also":[120],"propose":[121],"corresponding":[123],"point":[124,139],"cloud":[125],"extraction":[126],"method":[127,133],"scan":[129],"matching":[130],"method,":[131],"performs":[134],"centroid":[136],"iterative":[137],"closest":[138],"algorithm":[140],"between":[141],"submaps,":[143],"thereby":[144],"improving":[146],"interference":[148],"noise":[150],"glint.":[153],"Experimental":[154],"results":[155],"show":[156,184],"that":[157],"our":[158],"proposed":[159],"can":[165,183],"reduce":[166],"mean":[168],"absolute":[169],"trajectory":[170],"error":[171],"by":[172],"more":[173],"than":[174],"3":[175],"times":[176],"compared":[177],"system,":[181],"accuracy":[185],"robustness":[187],"various":[189],"environments.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
